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<div class="title">BVAlgorithms.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2009 Ilya Baran &lt;ibaran@mit.edu&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef EIGEN_BVALGORITHMS_H</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define EIGEN_BVALGORITHMS_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;./InternalHeaderCheck.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceEigen.html">Eigen</a> { </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#ifndef EIGEN_PARSED_BY_DOXYGEN</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> BVH, <span class="keyword">typename</span> Intersector&gt;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keywordtype">bool</span> intersect_helper(<span class="keyword">const</span> BVH &amp;tree, Intersector &amp;intersector, <span class="keyword">typename</span> BVH::Index root)</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;{</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH::Index <a class="codeRef" href="../namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Index</a>;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH::VolumeIterator VolIter;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH::ObjectIterator ObjIter;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  VolIter vBegin = VolIter(), vEnd = VolIter();</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  ObjIter oBegin = ObjIter(), oEnd = ObjIter();</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  std::vector&lt;Index&gt; todo(1, root);</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keywordflow">while</span>(!todo.empty()) {</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    tree.getChildren(todo.back(), vBegin, vEnd, oBegin, oEnd);</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    todo.pop_back();</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keywordflow">for</span>(; vBegin != vEnd; ++vBegin) <span class="comment">//go through child volumes</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      <span class="keywordflow">if</span>(intersector.intersectVolume(tree.getVolume(*vBegin)))</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        todo.push_back(*vBegin);</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keywordflow">for</span>(; oBegin != oEnd; ++oBegin) <span class="comment">//go through child objects</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <span class="keywordflow">if</span>(intersector.intersectObject(*oBegin))</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>; <span class="comment">//intersector said to stop query</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  }</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;}</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//not EIGEN_PARSED_BY_DOXYGEN</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Volume1, <span class="keyword">typename</span> Object1, <span class="keyword">typename</span> Object2, <span class="keyword">typename</span> Intersector&gt;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">struct </span>intersector_helper1</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  intersector_helper1(<span class="keyword">const</span> Object2 &amp;inStored, Intersector &amp;in) : stored(inStored), intersector(in) {}</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordtype">bool</span> intersectVolume(<span class="keyword">const</span> Volume1 &amp;vol) { <span class="keywordflow">return</span> intersector.intersectVolumeObject(vol, stored); }</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordtype">bool</span> intersectObject(<span class="keyword">const</span> Object1 &amp;obj) { <span class="keywordflow">return</span> intersector.intersectObjectObject(obj, stored); }</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  Object2 stored;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  Intersector &amp;intersector;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  intersector_helper1&amp; operator=(<span class="keyword">const</span> intersector_helper1&amp;);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;};</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Volume2, <span class="keyword">typename</span> Object2, <span class="keyword">typename</span> Object1, <span class="keyword">typename</span> Intersector&gt;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">struct </span>intersector_helper2</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  intersector_helper2(<span class="keyword">const</span> Object1 &amp;inStored, Intersector &amp;in) : stored(inStored), intersector(in) {}</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">bool</span> intersectVolume(<span class="keyword">const</span> Volume2 &amp;vol) { <span class="keywordflow">return</span> intersector.intersectObjectVolume(stored, vol); }</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">bool</span> intersectObject(<span class="keyword">const</span> Object2 &amp;obj) { <span class="keywordflow">return</span> intersector.intersectObjectObject(stored, obj); }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  Object1 stored;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  Intersector &amp;intersector;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  intersector_helper2&amp; operator=(<span class="keyword">const</span> intersector_helper2&amp;);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;};</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;} <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> BVH, <span class="keyword">typename</span> Intersector&gt;</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="namespaceEigen.html#a07d8e283f082c972338f3fc4f644b2a9">   81</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="namespaceEigen.html#a07d8e283f082c972338f3fc4f644b2a9">BVIntersect</a>(<span class="keyword">const</span> BVH &amp;tree, Intersector &amp;intersector)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;{</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  internal::intersect_helper(tree, intersector, tree.getRootIndex());</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;}</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> BVH1, <span class="keyword">typename</span> BVH2, <span class="keyword">typename</span> Intersector&gt;</div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="namespaceEigen.html#ac3b8047a3ee05b5e6fec4668197a9a43">   95</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="namespaceEigen.html#a07d8e283f082c972338f3fc4f644b2a9">BVIntersect</a>(<span class="keyword">const</span> BVH1 &amp;tree1, <span class="keyword">const</span> BVH2 &amp;tree2, Intersector &amp;intersector) <span class="comment">//TODO: tandem descent when it makes sense</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;{</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH1::Index Index1;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH2::Index Index2;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">typedef</span> internal::intersector_helper1&lt;typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Intersector&gt; Helper1;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keyword">typedef</span> internal::intersector_helper2&lt;typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Intersector&gt; Helper2;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH1::VolumeIterator VolIter1;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH1::ObjectIterator ObjIter1;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH2::VolumeIterator VolIter2;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH2::ObjectIterator ObjIter2;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  std::vector&lt;std::pair&lt;Index1, Index2&gt; &gt; todo(1, std::make_pair(tree1.getRootIndex(), tree2.getRootIndex()));</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordflow">while</span>(!todo.empty()) {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    tree1.getChildren(todo.back().first, vBegin1, vEnd1, oBegin1, oEnd1);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    tree2.getChildren(todo.back().second, vBegin2, vEnd2, oBegin2, oEnd2);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    todo.pop_back();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">for</span>(; vBegin1 != vEnd1; ++vBegin1) { <span class="comment">//go through child volumes of first tree</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">const</span> <span class="keyword">typename</span> BVH1::Volume &amp;vol1 = tree1.getVolume(*vBegin1);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keywordflow">for</span>(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { <span class="comment">//go through child volumes of second tree</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordflow">if</span>(intersector.intersectVolumeVolume(vol1, tree2.getVolume(*vCur2)))</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          todo.push_back(std::make_pair(*vBegin1, *vCur2));</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keywordflow">for</span>(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {<span class="comment">//go through child objects of second tree</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        Helper1 helper(*oCur2, intersector);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordflow">if</span>(internal::intersect_helper(tree1, helper, *vBegin1))</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          <span class="keywordflow">return</span>; <span class="comment">//intersector said to stop query</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keywordflow">for</span>(; oBegin1 != oEnd1; ++oBegin1) { <span class="comment">//go through child objects of first tree</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keywordflow">for</span>(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { <span class="comment">//go through child volumes of second tree</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        Helper2 helper(*oBegin1, intersector);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordflow">if</span>(internal::intersect_helper(tree2, helper, *vCur2))</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          <span class="keywordflow">return</span>; <span class="comment">//intersector said to stop query</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keywordflow">for</span>(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {<span class="comment">//go through child objects of second tree</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keywordflow">if</span>(intersector.intersectObjectObject(*oBegin1, *oCur2))</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;          <span class="keywordflow">return</span>; <span class="comment">//intersector said to stop query</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="preprocessor">#ifndef EIGEN_PARSED_BY_DOXYGEN</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> BVH, <span class="keyword">typename</span> Minimizer&gt;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="keyword">typename</span> Minimizer::Scalar minimize_helper(<span class="keyword">const</span> BVH &amp;tree, Minimizer &amp;minimizer, <span class="keyword">typename</span> BVH::Index root, <span class="keyword">typename</span> Minimizer::Scalar minimum)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;{</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> Minimizer::Scalar Scalar;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH::Index <a class="codeRef" href="../namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Index</a>;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="keyword">typedef</span> std::pair&lt;Scalar, Index&gt; QueueElement; <span class="comment">//first element is priority</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH::VolumeIterator VolIter;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH::ObjectIterator ObjIter;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  VolIter vBegin = VolIter(), vEnd = VolIter();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  ObjIter oBegin = ObjIter(), oEnd = ObjIter();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  std::priority_queue&lt;QueueElement, std::vector&lt;QueueElement&gt;, std::greater&lt;QueueElement&gt; &gt; todo; <span class="comment">//smallest is at the top</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  todo.push(std::make_pair(Scalar(), root));</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keywordflow">while</span>(!todo.empty()) {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    tree.getChildren(todo.top().second, vBegin, vEnd, oBegin, oEnd);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    todo.pop();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordflow">for</span>(; oBegin != oEnd; ++oBegin) <span class="comment">//go through child objects</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      minimum = (std::min)(minimum, minimizer.minimumOnObject(*oBegin));</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordflow">for</span>(; vBegin != vEnd; ++vBegin) { <span class="comment">//go through child volumes</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      Scalar val = minimizer.minimumOnVolume(tree.getVolume(*vBegin));</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordflow">if</span>(val &lt; minimum)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        todo.push(std::make_pair(val, *vBegin));</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    }</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordflow">return</span> minimum;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;}</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//not EIGEN_PARSED_BY_DOXYGEN</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Volume1, <span class="keyword">typename</span> Object1, <span class="keyword">typename</span> Object2, <span class="keyword">typename</span> Minimizer&gt;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="keyword">struct </span>minimizer_helper1</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;{</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> Minimizer::Scalar Scalar;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  minimizer_helper1(<span class="keyword">const</span> Object2 &amp;inStored, Minimizer &amp;m) : stored(inStored), minimizer(m) {}</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  Scalar minimumOnVolume(<span class="keyword">const</span> Volume1 &amp;vol) { <span class="keywordflow">return</span> minimizer.minimumOnVolumeObject(vol, stored); }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  Scalar minimumOnObject(<span class="keyword">const</span> Object1 &amp;obj) { <span class="keywordflow">return</span> minimizer.minimumOnObjectObject(obj, stored); }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  Object2 stored;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  Minimizer &amp;minimizer;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  minimizer_helper1&amp; operator=(<span class="keyword">const</span> minimizer_helper1&amp;);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;};</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Volume2, <span class="keyword">typename</span> Object2, <span class="keyword">typename</span> Object1, <span class="keyword">typename</span> Minimizer&gt;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="keyword">struct </span>minimizer_helper2</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;{</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> Minimizer::Scalar Scalar;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  minimizer_helper2(<span class="keyword">const</span> Object1 &amp;inStored, Minimizer &amp;m) : stored(inStored), minimizer(m) {}</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  Scalar minimumOnVolume(<span class="keyword">const</span> Volume2 &amp;vol) { <span class="keywordflow">return</span> minimizer.minimumOnObjectVolume(stored, vol); }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  Scalar minimumOnObject(<span class="keyword">const</span> Object2 &amp;obj) { <span class="keywordflow">return</span> minimizer.minimumOnObjectObject(stored, obj); }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  Object1 stored;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  Minimizer &amp;minimizer;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  minimizer_helper2&amp; operator=(<span class="keyword">const</span> minimizer_helper2&amp;);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;};</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;} <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> BVH, <span class="keyword">typename</span> Minimizer&gt;</div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="namespaceEigen.html#adcbe73ac1482eacab0e18ee32c25508e">  221</a></span>&#160;<span class="keyword">typename</span> Minimizer::Scalar <a class="code" href="namespaceEigen.html#adcbe73ac1482eacab0e18ee32c25508e">BVMinimize</a>(<span class="keyword">const</span> BVH &amp;tree, Minimizer &amp;minimizer)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;{</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <span class="keywordflow">return</span> internal::minimize_helper(tree, minimizer, tree.getRootIndex(), (std::numeric_limits&lt;typename Minimizer::Scalar&gt;::max)());</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;}</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> BVH1, <span class="keyword">typename</span> BVH2, <span class="keyword">typename</span> Minimizer&gt;</div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="namespaceEigen.html#a915f6adc8b195c94a83c35de6a842556">  237</a></span>&#160;<span class="keyword">typename</span> Minimizer::Scalar <a class="code" href="namespaceEigen.html#adcbe73ac1482eacab0e18ee32c25508e">BVMinimize</a>(<span class="keyword">const</span> BVH1 &amp;tree1, <span class="keyword">const</span> BVH2 &amp;tree2, Minimizer &amp;minimizer)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;{</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> Minimizer::Scalar Scalar;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH1::Index Index1;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH2::Index Index2;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="keyword">typedef</span> internal::minimizer_helper1&lt;typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Minimizer&gt; Helper1;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keyword">typedef</span> internal::minimizer_helper2&lt;typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Minimizer&gt; Helper2;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="keyword">typedef</span> std::pair&lt;Scalar, std::pair&lt;Index1, Index2&gt; &gt; QueueElement; <span class="comment">//first element is priority</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH1::VolumeIterator VolIter1;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH1::ObjectIterator ObjIter1;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH2::VolumeIterator VolIter2;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH2::ObjectIterator ObjIter2;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1();</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  std::priority_queue&lt;QueueElement, std::vector&lt;QueueElement&gt;, std::greater&lt;QueueElement&gt; &gt; todo; <span class="comment">//smallest is at the top</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  Scalar minimum = (std::numeric_limits&lt;Scalar&gt;::max)();</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  todo.push(std::make_pair(Scalar(), std::make_pair(tree1.getRootIndex(), tree2.getRootIndex())));</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="keywordflow">while</span>(!todo.empty()) {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    tree1.getChildren(todo.top().second.first, vBegin1, vEnd1, oBegin1, oEnd1);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    tree2.getChildren(todo.top().second.second, vBegin2, vEnd2, oBegin2, oEnd2);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    todo.pop();</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keywordflow">for</span>(; oBegin1 != oEnd1; ++oBegin1) { <span class="comment">//go through child objects of first tree</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keywordflow">for</span>(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {<span class="comment">//go through child objects of second tree</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        minimum = (std::min)(minimum, minimizer.minimumOnObjectObject(*oBegin1, *oCur2));</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      }</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keywordflow">for</span>(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { <span class="comment">//go through child volumes of second tree</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        Helper2 helper(*oBegin1, minimizer);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        minimum = (std::min)(minimum, internal::minimize_helper(tree2, helper, *vCur2, minimum));</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      }</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keywordflow">for</span>(; vBegin1 != vEnd1; ++vBegin1) { <span class="comment">//go through child volumes of first tree</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="keyword">const</span> <span class="keyword">typename</span> BVH1::Volume &amp;vol1 = tree1.getVolume(*vBegin1);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keywordflow">for</span>(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {<span class="comment">//go through child objects of second tree</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        Helper1 helper(*oCur2, minimizer);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        minimum = (std::min)(minimum, internal::minimize_helper(tree1, helper, *vBegin1, minimum));</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      }</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="keywordflow">for</span>(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { <span class="comment">//go through child volumes of second tree</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        Scalar val = minimizer.minimumOnVolumeVolume(vol1, tree2.getVolume(*vCur2));</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        <span class="keywordflow">if</span>(val &lt; minimum)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;          todo.push(std::make_pair(val, std::make_pair(*vBegin1, *vCur2)));</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      }</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    }</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="keywordflow">return</span> minimum;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;}</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;} <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// EIGEN_BVALGORITHMS_H</span></div>
<div class="ttc" id="anamespaceEigen_html"><div class="ttname"><a href="namespaceEigen.html">Eigen</a></div><div class="ttdoc">Namespace containing all symbols from the Eigen library.</div></div>
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<div class="ttc" id="anamespaceEigen_html_a62e77e0933482dafde8fe197d9a2cfde"><div class="ttname"><a href="../namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Eigen::Index</a></div><div class="ttdeci">EIGEN_DEFAULT_DENSE_INDEX_TYPE Index</div></div>
<div class="ttc" id="anamespaceEigen_html_adcbe73ac1482eacab0e18ee32c25508e"><div class="ttname"><a href="namespaceEigen.html#adcbe73ac1482eacab0e18ee32c25508e">Eigen::BVMinimize</a></div><div class="ttdeci">Minimizer::Scalar BVMinimize(const BVH &amp;tree, Minimizer &amp;minimizer)</div><div class="ttdef"><b>Definition:</b> BVAlgorithms.h:221</div></div>
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